Page-Turning Robot Wade Lacey, Andrew Harter, Reed Farber, Liam - PowerPoint PPT Presentation

Page-Turning Robot Wade Lacey, Andrew Harter, Reed Farber, Liam Walsh 1

The Problem 2

Spinal cord injuries greatly limit mobility and dexterity Image source: https://www.slideshare.net/mrinaljoshi3/long-term-issues-in-spinal-cord-injury 3

Separating pages from one another requires fine motor skills that many may not possess 4 https://www.google.com/url?sa=i&url=https%3A%2F%2Fwww.pocket-lint.com%2Fgadgets%2Freviews%2F72285-archo

Currently, eReaders and audio books are the only options for readers with limited dexterity Image sources: https://canorthcentral.scbwi.org/events/an-inside-look-at-audiobooks-from-concept-to-production-webinar/ https://www.google.com/url?sa=i&url=https%3A%2F%2Fwww.pocket-lint.com%2Fgadgets%2Freviews%2F72285-archo 5

Our Solution 6

Our robot allows users to read a physical book without the precise motion needed to turn the page 7 Image sources: https://www.123rf.com/photo_5244619_female-hand-turning-a-page-of-an-old-book.html

How it works 8

For comfort and transportability, the robot is mounted on a lap desk 9

We utilize a wheel and flipper mechanism to turn pages, both forwards and backwards Motor Flipper Arm Wheel 10

We utilized 3D printing to manufacture many of our components 11

The flipping action is actuated by two servos mounted on a common frame Continuous 180 ° Servo Servo Servo Frame 12

To change the direction of page turning, the continuous servo can move the motor arm to either side 13

The wheel actuated by the DC motor separates a page from the rest of the book to lift it 14

The flipper arm, driven by the 180° servo, takes the raised page and flips it to the other side 15

Users can turn pages in both directions with a simple hand wave 16

Functionality 17

The individual components work together to flip any direction the user desires 18

An Arduino Uno and Adafruit motor shield work together to control the system 19

The code for the system follows this basic flow chart 20

Servo motors are coupled with ultrasonic sensors that allow for broad motions to translate into precision control 21

Reflection 22

Future focus on our gadget would be aimed at universalizing the page-turning mechanism and process for any book size 23

Our gadget allows people with mobility restrictions to read physical books without needing the fine motor skills to turn individual pages 24

Thank You! 25

Appendix 26

CAD of Mechanical Design 27

Motor mount 28

Motor arm 29

Ultrasonic sensor mount 30

Flipping arm 31

Circuit Design 32

Actuators Wheel-Turning Motor Input Voltage: 6V No Load Speed: 85 rpm No Load Current: 100 mA Stall Torque: 5.0 kg-cm Stall Current: 1.5 A Standard (180 degree) Input Voltage: 4.8V - 6V Servo No Load Speed: 0.16 s/60° Stall Torque: 90 oz-in Continuous Servo Input Voltage: 4.8-6V No Load Speed: 0.18 s/60° Stall Torque: 44.52 oz-in 33

Continuous Servo Selection 34

Controllers Adafruit Motor Shield for Arduino: - 2 connections for 5V 'hobby' servos - run motors on 4.5VDC to 13.5VDC Arduino Uno - up to 4 bi-directional DC motors - compatible with Arduino UNO 35

Sensors Ultrasonic Sensors: Power supply : 5V DC Quiescent current : <2mA Effectual angle: <15° Ranging distance : 2cm Resolution : 0.3 cm 4 pins out of the module : VCC , Trig, Echo, GND. 36

Code 37

Code 38

Code 39